function localization_setup_msg_cycle( alg_param, start_node )
  global g1400_cur_node;
  global g1400_LMap;
  global g1400_finished;
  global g1400_LMap_next;
  global hEdit7;
    g1400_cur_node = start_node;    if start_node == 1  g1400_LMap = g1400_LMap_next;    % sprawdzenie czy nie nalezy zakonczyc:
  if g1400_LMap(:,1) == 0  g1400_finished = 1;  end
    g1400_LMap_next(:,1) = 0; % domyslnie nic nie obrabiamy w kolejnej iteracji
  set(hEdit7,'String',localization_avg_error());  end
 end
  %% Funkcja licząca średni błąd
 function [error] = localization_avg_error()
  global g1400_LMap;
  global S_Map;
  global nodes_count;
    LMap = g1400_LMap;    sum = 0;  for i=1:nodes_count;  sum = sum + sqrt((S_Map(i,1) - LMap(i,3))^2 + (S_Map(i,2) - LMap(i,4))^2);  end;
    error = fix(sum/nodes_count * 100)/100; end
 